參考鏈接:
https://blog.csdn.net/qq_41839222/article/details/86503113
https://blog.csdn.net/qq_42393859/article/details/85257685
https://blog.csdn.net/Carminljm/article/details/86353775
https://blog.csdn.net/subiluo/article/details/88975979
ORBSLAM原始代碼及論文地址:http://webdiis.unizar.es/~raulmur/orbslam/
安裝環境
系统:ubuntu 16.04 内核 4.15.0-50-generic
ROS: Kinetic
传感器:intel realsense d435i
(ros-kinetic安裝參考官網http://wiki.ros.org/kinetic/Installation/Ubuntu )
前期安裝了:VTK7.1.1,opencv3.4.0,Eigen3.3,PCL1.8,ROS-kinetic
安装Realsense d435i SDK
github:https://github.com/IntelRealSense/librealsense
建議直接參照官網教程:
sudo apt-key adv --keyserver keys.gnupg.net --recv-key C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver
- Ubuntu 16 LTS:
sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u
sudo apt-get update
sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils
博主才開始安装参考了文档:https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md
1、下载source
git clone https://github.com/IntelRealSense/librealsense
cd librealsense
2、安装依赖项
sudo apt-get install libudev-dev pkg-config libgtk-3-dev
sudo apt-get install libusb-1.0-0-dev pkg-config
sudo apt-get install libglfw3-dev
sudo apt-get install libssl-dev
3、Install Intel Realsense permission scripts located in librealsense source directory:
sudo cp config/99-realsense-libusb.rules /etc/udev/ru